Robotic end-of-arm tools and methods of use

ABSTRACT

End-of-arm tools to be coupled to a robotic arm and configured to handle structural lumber objects are disclosed as are methods of use for such. The end-of-arm tools comprise opposing jaws to grip the lumber objects. The opposing jaws are coupled to a rigid frame via a four-bar linkage providing mechanical advantage and over-center functionality. An actuated extractor extends between the opposing jaws to engage the lumber object upon release. Assemblies of multiple end-of-arm tools coupled together are also disclosed.

RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/999,544, entitled “ROBOTIC END-OF-ARM TOOLS AND METHODS OF USE”,filed Aug. 21, 2020, which is hereby incorporated by reference herein inits entirety.

TECHNICAL FIELD

The present disclosure relates generally to the field of robotics andspecifically end-of-arm tools for attachment to and use with a roboticarm. The present disclosure further relates to end-of-arm tools relatedto handling of lumber objects such as structural components for buildingconstruction.

BACKGROUND

Applying robotics to the pre-fabrication of structural components, suchas trusses, can save significant time and labor, which can therebyimprove efficiency and expedite completion of a construction project.Automated pre-fabrication of structural components is presently limitedbecause of challenges in manipulating the structural components andplacing them in an appropriate position for assembly.

As lumber is a fibrous material and, in some cases, the strength of thefibers may define the strength of the lumber object. In some instances,the fibers of a lumber object may align with a longitudinal axis of thelumber object. Furthermore, the fibers adjacent a surface of the lumberobject may define a substantial portion of the strength of the lumberobject. As such, avoiding fiber damage along the surface may beparticularly advantageous such as avoiding crushing the lumber object.It may also be advantageous to align elongate gripping elements alongthe fibers as opposed to across the fibers.

BRIEF DESCRIPTION OF THE DRAWINGS

The present embodiments will become more fully apparent from thefollowing description and appended claims, taken in conjunction with theaccompanying drawings. Understanding that the accompanying drawingsdepict only typical embodiments, and are, therefore, not to beconsidered limiting of the scope of the disclosure, the embodiments willbe described and explained with specificity and detail in reference tothe accompanying drawings.

FIG. 1 is a front perspective view of an end-of-arm tool (EOAT)according to one embodiment.

FIG. 2 is a front view of the EOAT of FIG. 1 with the jaws disposed in agripping configuration.

FIG. 3 is a front view of the EOAT of FIG. 1 with the jaws disposed inan open configuration.

FIG. 4A is a partial-sectional detail view of a portion of the first jawin the gripping configuration with the first jaw sectioned alongsectioning line 4A-4A as shown in FIG. 2 .

FIG. 4B is a partial-sectional detail view of a portion of the first jawin the open configuration with the first jaw sectioned along sectioningline 4B-4B as shown in FIG. 3 .

FIG. 5 is a front view of the EOAT of FIG. 1 with the jaws disposed inan open configuration and an extractor disposed in an extended positionbetween the jaws.

FIG. 6 is a perspective detail view of the first jaw of the EOAT of FIG.1 .

FIG. 7A is a front view of the EOAT of FIG. 1 with the jaws disposed inthe gripping configuration gripping a lumber object.

FIG. 7B is a detail view of the first jaw of FIG. 7A.

FIG. 8A is a front view of the EOAT of FIG. 1 with the jaws disposed inan open configuration so as to release the lumber object as placed ontoa horizontal surface. The extractor is shown in a retracted position.

FIG. 8B is a detail view of the jaws of FIG. 8A.

FIG. 9 is a front view of the EOAT of FIG. 1 with the jaws disposed inan open configuration and the extractor extended so as to be in contactwith the lumber object.

FIG. 10 is a front perspective view of an EOAT assembly comprising apair of EOATs according to FIG. 1 coupled together with an extensionmember extending distally from the pair of EOATs.

FIG. 11 is a front view of the EOAT assembly of FIG. 10 illustratingplacement of the lumber object in relation to other objects.

DETAILED DESCRIPTION

It will be readily understood that the components of the embodiments asgenerally described and illustrated in the figures herein could bearranged and designed in a wide variety of different configurations.Thus, the following more detailed description of various embodiments, asrepresented in the figures, is not intended to limit the scope of thedisclosure, as claimed, but is merely representative of variousembodiments. While the various aspects of the embodiments are presentedin drawings, the drawings are not necessarily drawn to scale unlessspecifically indicated.

Moreover, the phrases “connected to” and “coupled to” are used herein intheir ordinary sense, and are broad enough to refer to any suitablecoupling or other form of interaction between two or more entities,including mechanical, fluid, and thermal interaction. Two components maybe coupled to each other even though they are not in direct contact witheach other. The phrase “attached to” refers to interaction between twoor more entities that are in direct contact with each other and/or areseparated from each other only by a fastener of any suitable variety(e.g., an adhesive, stitching, etc.). When two entities are described asbeing “pivotably” coupled together, the two entities may rotate relativeto each other about a pivot point and may be constrained so as toprevent translation relative to each other.

The term “opposite” is a relational term used herein to refer to aplacement of a particular feature or component in a positioncorresponding to another related feature or component wherein thecorresponding features or components are positionally juxtaposed to eachother. By way of example, a person's right hand is opposite the person'sleft hand.

The terms “a” and “an” can be described as one, but not limited to one.For example, although the disclosure may recite an element having, e.g.,“an opening,” the disclosure also contemplates that the element can havetwo or more openings.

Unless otherwise stated, all ranges include both endpoints and allnumbers between the endpoints.

Reference throughout this specification to “an embodiment” or “theembodiment” means that a particular feature, structure, orcharacteristic described in connection with that embodiment is includedin at least one embodiment. Thus, the quoted phrases, or variationsthereof, as recited throughout this specification are not necessarilyall referring to the same embodiment. Not every embodiment is shown inthe accompanying illustrations, however, at least a preferred embodimentis shown. At least some of the features described for a shown preferredembodiment are present in other embodiments.

FIG. 1 is a perspective front view of an end-of-arm tool (EOAT) 100together with a perspective view of a lumber object 50 for reference.The lumber object 50 includes a first side 51, a second side 52 oppositethe first side 51. The first side 51 and the second side 52 may or maynot be parallel to each other. The lumber object 50 includes a thirdside 53 that may be orthogonal to the first side 51 and the second side52 or may not be orthogonal to either of the first side 51 or the secondside 52. The lumber object 50 includes a length 56, a width 57 extendingbetween the first side 51 and the second side 52, and a height 58. Thelength 56 is greater than the width 57 and the height 58. The width 57may be greater than or less than the height 58. The lumber object 50 maybe a regular or non-regular polygon having three or more sides extendingbetween ends. The lumber object 50 may be formed of wood, plastic, orany other suitable structural material.

The EOAT 100 may be coupled to a distal end of a robotic arm 20. TheEOAT 100 may be configured to grip and release the lumber object 50 asdescribed in detail below. For convenience in description, alongitudinal axis 119 may be defined as extending vertically through acenter of the EOAT 100. In the illustrated embodiment, the EOAT 100 maycomprise a symmetrical structure in some respects. More specifically,the EOAT 100 may comprise symmetrical portions about the longitudinalaxis 119 front to back and/or left to right. In other embodiments, theEOAT 100 may not comprise symmetrical portions. The EOAT 100 may includea first side shown on the left and a second side shown on the right. Thedetailed description of the EOAT 100 that follows below describes theportions, components, and functionality of the first side. Identicalportions, components, and functionality may be present on the secondside even though such portions, components, and functionality of thesecond side may not be directly described herein. In similar fashion,identical portions, components, and functionality may be present on theback side even though such portions, components, and functionality ofthe back side may not be directly described herein. The detaileddescription of the first side that follows may be applied to the secondside. The components and features of the first side are designated by100 series reference numerals. Components and features of the secondside, when referenced, are designated by 200 series reference numerals.Accordingly, like features and/or components of the second side aredesignated with like reference numerals of the first side, with theleading digits incremented to “2.” For example, the frame 110 maycomprise a first arm 111 on the first side and a second arm 211 on thesecond side. For simplicity and readability of the following disclosureand as the following description consistently refers to the portions,components, and functionality of the first side, the descriptor “first”may not always be repeated.

The EOAT 100 may comprise a frame 110 configured to be coupled to arobotic arm (not shown) at a proximal end 110 a. As stated above, theframe 110 may comprise a first arm 111 and a second arm 211 extending ina distal direction and defining a gap between the first arm 111 and asecond arm 211. The frame 110 may comprise features such as holes andslots, for example, to facilitate coupling of the frame 110 with othercomponents as described below. The frame 110 may be formed of a rigidmaterial such as steel, aluminum, or other suitable rigid structuralmaterial. The frame 110 may further comprise cross-sectional shapes toestablish a strength of the frame 110 in specific directions such as astrength to withstand a separating force between the first arm 111 andthe second arm 211.

The EOAT 100 may comprise a first jaw 120 coupled to the first arm 111and a second jaw 220 coupled to the second arm 211. The first jaw 120and the second jaw 220 are positionable relative to each other inresponse to actuation of a first actuator 151. The first jaw 120 and thesecond jaw 220 are positionable toward each other to define a grippingconfiguration and are likewise positionable away from each other (e.g.,relative to the gripping configuration) to define an open configuration.The first jaw 120 includes a first face 121 and the second jaw 220includes a second face 221. In the illustrated embodiment, the firstface 121 and the second face 221 may be parallel to each other. In otherembodiments, the first face 121 and the second face 221 may not beparallel to each other. The first jaw 120 may include a plurality ofteeth 124 and an opening 123 extending through the first face 121 asfurther described below. The opening 123 may be in the shape of a slot.

FIG. 2 is a front view of the EOAT 100 in the gripping configuration andFIG. 3 is a front view of the EOAT 100 in the open configuration. Thefirst jaw 120 and the second jaw 220 are each in a grippingconfiguration (or gripping position) in FIG. 2 and the first jaw 120 andthe second jaw 220 are each in an open configuration (or open position)in FIG. 3 . In the illustrated embodiment, the first jaw 120 and thesecond jaw 220 are separated from each other by a first separationdistance D1 when the EOAT 100 is in the gripping configuration.Similarly, the first jaw 120 and the second jaw 220 are separated fromeach other by a second separation distance D2 when the EOAT 100 is inthe open configuration and the second separation distance may be greaterthan the first separation distance. As such, the first separationdistance may be about equal to the width 57 of the lumber object 50 asfurther described below and the second distance may be greater than thewidth 57.

As shown, the first jaw 120 and the second jaw 220 are operably coupledto the frame 110 and the first actuator 151 via multiple linkingmembers. The first actuator 151 may be rigidly attached to the frame110. In some embodiments, the first actuator 151, which may be a linearactuator, may be disposed along the longitudinal axis 119. In theillustrated embodiment, the first jaw 120 and the second jaw 220 arecoupled to the frame 110 and the first actuator 151 in a similar fashioncomprising similar linking members. The detailed description thatfollows with regard to the coupling of the first jaw 120 to the frame110 and the first actuator 151 may thus be applied to the coupling ofthe second jaw 220 to the frame 110 and the first actuator 151. As such,the detailed description of the coupling of the first jaw 120 to theframe 110 and the first actuator 151 may thus not be repeated for thesecond jaw 220 although components, features, operation, andfunctionality may be similar, or even the same.

The first jaw 120 may be coupled to the first arm 111 of the frame 110via a first jaw link 131 and a second jaw link 132. The first jaw link131 may be pivotably coupled to the first arm 111 of the frame 110 at afirst pivot point 141 and pivotably coupled to the first jaw 120 at asecond pivot point 142. Similarly, the second jaw link 132 may bepivotably coupled to the first arm 111 of the frame 110 at a third pivotpoint 143 and pivotably coupled to the first jaw 120 at a fourth pivotpoint 144. The first jaw 120, the first arm 111, the first jaw link 131,and the second jaw link 132 may thus define a four-bar linkage. In theillustrated embodiment, the distance between the first pivot point 141and the second pivot point 142 may be equal to the distance between thethird pivot point 143 and the fourth pivot point 144. Similarly, thedistance between the first pivot point 141 and the third pivot point 143may be equal to the distance between the second pivot point 142 and thefourth pivot point 144. As such, the first, second, third, and fourthpivot points 141, 142, 143, 144 may define a parallelogram so that thefirst face 121 and the second face 221 remain parallel to each other asthe first jaw 120 transitions between the gripping configuration and theopen configuration. In other embodiments, the distance between the firstpivot point 141 and the second pivot point 142 may not be equal to thedistance between the third pivot point 143 and the fourth pivot point144. Similarly, in some embodiments, the distance between the firstpivot point 141 and the third pivot point 143 may not be equal to thedistance between the second pivot point 142 and the fourth pivot point144. As such, the first, second, third, and fourth pivot points 141,142, 143, 144 may define a polygon other than a parallelogram and thefirst face 121 and the second face 221 may not remain parallel to eachother, or remain at a defined angle relative to each other, as the firstjaw 120 transitions between the gripping configuration and the openconfiguration.

In the illustrated embodiment, the first jaw link 131 may form an angle125 with respect to the longitudinal axis 119. In the illustratedembodiment, the second jaw link 132 may be parallel with the first jawlink 131 and therefore, the second jaw link 132 may form an angle withrespect to the longitudinal axis 119 that is equal to the angle 125. Asshown in FIG. 2 , when the EOAT 100 is disposed in the grippingconfiguration, the angle 125 is about 90 degrees. Accordingly, thefirst, second, third, and fourth pivot points 141, 142, 143, 144 maysubstantially define a rectangle when the EOAT 100 is disposed in thegripping configuration. When the EOAT 100 is disposed in the openconfiguration as shown in FIG. 3 the angle 125 is less than 90 degrees.As the EOAT 100 transitions between the gripping configuration and theopen configuration, the first jaw 120 follows a circular path since thefirst and second jaw links 131, 132 rotate about the first and thirdpivot points 141, 143, respectively. As such, when the EOAT 100transitions away from the open configuration toward the grippingconfiguration, the first jaw 120 moves in an oblique direction away fromthe first arm 111, i.e., partially in a transverse direction relative tothe longitudinal axis 119 (toward the second jaw 220) and partially in adirection parallel to the longitudinal axis 119. As the EOAT 100 moreclosely approaches the gripping configuration the first jaw 120 may movemore substantially in the parallel direction and minimally in thetransverse direction.

Referring further to FIGS. 2 and 3 , the EOAT 100 may comprise atransfer link 133 and a lever link 134. The lever link 134 may becoupled to the frame 110 at a sixth pivot point 146. The first transferlink 133 may be pivotably coupled to the first jaw link 131 at a fifthpivot point 145 and the lever link 134 at a seventh pivot point 147 sothat rotation of the lever link 134 about the sixth pivot point 146 isconverted to rotation of the first jaw link 131 about the first pivotpoint 141. The EOAT 100 may further comprise a second transfer link 135.The second transfer link 135 may be coupled to the lever link 134 at aneighth pivot point 148 and coupled to a first actuator 151 (e.g., aplunger 151 a of the first actuator 151) at a ninth pivot point 149.Pursuant to front to back symmetrical nature of the EOAT 100 a duplicatefirst transfer link 133 and a duplicate second transfer link 135 may bedisposed on the back side of the EOAT 100. The duplicate first andsecond transfer links 133, 135 disposed on the back may comprise thesame connectivity and functionality as the first and second transferlinks 133, 135 disposed on the front side.

Actuation of the first actuator 151, for example, displacement of thefirst actuator plunger 151 a, may transition the EOAT 100 between thegripping configuration as illustrated in FIG. 2 and the openconfiguration as illustrated in FIG. 3 . Extension of the first actuatorplunger 151 a may displace the second transfer link 135 that may then beconverted into rotation of the lever link 134 about the sixth pivotpoint 146. Rotation of the lever link 134 about the sixth pivot point146 may be converted into longitudinal displacement of the firsttransfer link 133 that may then be converted into rotation of the firstjaw link 131 about the first pivot point 141. Rotation of the first jawlink 131 about the first pivot point 141 may then move the first jaw 120away from the gripping configuration toward the open configuration asdescribed above. Retraction of the first actuator plunger 151 a maysimilarly and conversely move the first jaw 120 away from the openconfiguration toward the gripping configuration. As such, the firstactuator plunger 151 a may be disposed in a retracted position when theEOAT 100 is in the gripping configuration and an extended position whenthe EOAT 100 is in the open configuration.

The design aspects, such as mechanical advantage(s) and the distances,lengths, and ratios of the components (e.g., links, pivot points,actuator(s)) of the EOAT 100 defining the mechanical advantage(s), maybe designed within constraints and according to a given application oruse of the EOAT 100. In determining design aspects, consideration isgiven to the material of the object(s) to be picked up or grasped by theEOAT 100. As can be appreciated, different materials have differentcompression specifications; soft wood compresses more readily thanhardwood, which compresses more readily than concrete or metal, forexample. For example, in an application grasping wood, the mechanicaladvantage(s) within the EOAT 100 will be appropriate to press the teethof the jaws into the wood without crushing the wood. A compressionspecification of the material may provide an upper bound on one or moredesign aspects.

In determining design aspects, consideration is also given to one ormore of a min and max size (length, width, height) and a min and maxmass of the object(s) to be picked up by the EOAT 100. The material andthe size and mass of the object(s) to be picked up may be considered atleast for determining a size of a contact surface of the jaws with theEOAT 100.

The size of the contact surface may provide lower bound constraints asinfluenced by where the object is to be positioned. For example, thecontact surface may be constrained to a size small enough to handleconstraints of the placement position and large enough to secure theobject while it is gripped by the EOAT 100. The size of the contactsurface determination may be influenced by potential reactionary forcesanticipated from interactions of the object with other objects. A largerobject, with a considerable length, that may be bumped at an end byanother object (e.g., creating a lever force) will need to be graspedwith a larger contact surface than a shorter object or similar sizedobject that will not encounter reactionary forces during grasping by theEOAT 100.

Based on the size of the contact surface, the compression specificationof the object, and the size of the object (and any anticipatedreactionary forces to be encountered) a determination can be made of anamount of force needed to be applied to the contact surface to achieve asecure grasp of the object with the contact surface and withoutexceeding the compression specification. The determined amount of forcecan then specify a point of contact of the cam over.

Relative distances between pivot points along the lever link 134 and thefirst jaw link 131 may at least partially define a mechanical advantagebetween displacement of the first actuator plunger 151 a anddisplacement of the first jaw 120. In the illustrated embodiment, thedistance between the sixth pivot point 146 and the seventh pivot point147 may define a first lever length and the distance between the sixthpivot point 146 and the eighth pivot point 148 may define a second leverlength. As such, a longitudinal displacement of first actuator plunger151 a may be greater than a longitudinal displacement of the firsttransfer link 133 by a first factor of mechanical advantage defined bythe ratio of second lever length divided by the first lever length.Similarly, a compressive force along the first transfer link 133 may begreater than a force of the first actuator plunger 151 a by the firstfactor of mechanical advantage.

The linked relationship between the first transfer link 133 and firstjaw 120 may define a second factor of mechanical advantage. The secondfactor of mechanical advantage may be defined by a ratio of alongitudinal displacement of the first transfer link 133 divided by atransverse displacement of the first jaw 120. In the illustratedembodiment, the distance between first pivot point 141 and fifth pivotpoint 145 may define a third lever length and the distance between thefirst pivot point 141 and the second pivot point 142 may define a fourthlever length. Accordingly, the second factor of mechanical advantage maybe trigonometrically estimated by a ratio of the third lever lengthdivided by the fourth lever length multiplied by the tangent of theangle 125. It accordingly follows that a force of the first jaw 120 inthe transverse direction may be greater than a longitudinal force alongthe first transfer link 133 by the second factor of mechanicaladvantage. As the EOAT 100 approaches the gripping configuration and theangle 125 accordingly approaches 90 degrees, the tangent of the angle125 significantly increases. Hence, the second factor of mechanicaladvantage may significantly increase as the EOAT 100 approaches thegripping configuration.

In some embodiments, the first actuator plunger 151 a may retractsufficiently to cause the angle 125 to be greater than 90 degrees whenthe EOAT 100 is disposed in the gripping configuration so as to definean over-center or cam-over condition of the first jaw 120. Such anover-center condition may provide for the EOAT 100 to remain disposed inthe gripping configuration when energy is removed from the firstactuator 151. In other words, a lumber object 50 may remain gripped whenan extracting force is removed from the first actuator plunger 151 a(e.g., when power to the robotic arm and/or EOAT 100 is lost).

FIG. 4A is a front partial-sectional detail view of the of the firstframe arm 111, the first jaw 120, and the first and second jaw links131, 132 with the EOAT 100 disposed in the gripping configuration. Asshown, the frame 110 may include a first lateral frame extension 112extending toward the second frame arm 211 (see FIG. 3 ). The firstlateral frame extension 112 may define a protrusion sized and positionedto extend through the opening 123. As shown, the first lateral frameextension 112 may be sized so that the first lateral frame extension 112does not extend beyond, or protrude from, the first face 121 of thefirst jaw 120 when the first jaw 120 is in the gripping configuration.The EOAT 100 may also comprise a corresponding second lateral frameextension 212 extending inward from the second arm 211 (see FIG. 3 ) ofthe frame 110. Since the first lateral frame extension 112 and thesecond lateral frame extension 212 are fixed to the frame 110, thedistance between the first lateral frame extension 112 and the secondlateral frame extension 212 may be greater than the width 57 of thelumber object 50.

As further shown in FIG. 4A, the second jaw link 132 may include a firstlink extension 132 a. The first link extension 132 a may extendlongitudinally beyond the fourth pivot point 144 and may also extend ina lateral direction of the second jaw link 132. In the illustratedembodiment, the first link extension 132 a may be sized and positionedto extend through the opening 123. In another embodiment, the first linkextension 132 a may extend through an opening other than the opening123. As shown, the first link extension 132 a may be sized and shaped sothat the first link extension 132 a does not extend beyond the firstface 121 of the first jaw 120 when the first jaw 120 is in the grippingconfiguration. In other words, when the first jaw link 131 is orientedto define an angle 125 of about 90 degrees with longitudinal axis 119,the first link extension 132 a is rotated away from the first face 121so as to not protrude from the first face 121.

FIG. 4B is a front partial-sectional detail view of the of the firstframe arm 111, the first jaw 120, and the first and second jaw links131, 132 similar to FIG. 4A except with the EOAT 100 disposed in theopen configuration. As shown, when the first jaw 120 is disposed in theopen configuration, the first lateral frame extension 112 and the firstlink extension 132 a may protrude from the first face 121 of the firstjaw 120. In the illustrated embodiment, the first lateral frameextension 112 and the first link extension 132 a may also extend beyondthe plurality of the teeth 124 of the first jaw 120. As such, the firstlateral frame extension 112 and the first link extension 132 a maydisplace the lumber object 50 (see FIG. 1 ) away from the plurality ofthe teeth 124 when the EOAT 100 transitions from the grippingconfiguration toward the open configuration.

Referring to FIG. 5 , the EOAT 100 may comprise a second actuator 152including a second actuator plunger 152 a or extractor. In theillustrated embodiment the second actuator 152 may be disposed along thelongitudinal axis 119. The second actuator 152 is coupled to the frame110 so that the second actuator plunger 152 a may extend between thefirst jaw 120 and the second jaw 220 when the EOAT 100 is disposed inthe open configuration. In some embodiments, the second actuator plunger152 a may also extend to a position between the first jaw 120 and thesecond jaw 220 when the EOAT 100 is disposed in the grippingconfiguration. The second actuator plunger 152 a may extend beyond adistal end of the first jaw 120 and the second jaw 220. The secondactuator plunger 152 a may contact a lumber object 50 disposed betweenthe first jaw 120 and the second jaw 220. The second actuator plunger152 a may apply a force to the third side 53 of lumber object 50. Insome instances, second actuator plunger 152 a may apply a downward forceon the lumber object 50 so as to stabilize the lumber object 50 on ahorizontal surface 60. In some instances, the second actuator plunger152 a may apply a downward force on the lumber object 50 to hold thelumber object 50 against the horizontal surface 60 while the first jaw120 and the second jaw 220 are displaced away from their respectivegripping configurations. In some instances, the second actuator plunger152 a may apply a downward force on the lumber object 50 to hold thelumber object 50 against the horizontal surface 60 while the EOAT 100 ismoved away from the lumber object 50 by the robotic arm.

FIG. 6 illustrates details of the first jaw 120 of the EOAT 100. Asstated above, the first jaw 120 may comprise a first face 121. The firstjaw 120 may also comprise a first top flange 122. The first top flange122 may extend away from the first face 121 a defined length. The lengthmay be defined by a width dimension of the lumber object 50. Forexample, the length of the first top flange 122 may be about half orless than half of the width of the lumber object 50. In someembodiments, a portion of the first top flange 122 may extend fartherthan a width of the lumber object 50. The first top flange 122 mayextend across a width of the first jaw 120. In some embodiments, thefirst top flange 122 may not extend across the entire width of the firstjaw 120 or the first top flange 122 may extend beyond the width of thefirst jaw 120. The first top flange 122 may extend orthogonal to thefirst face 121, or may be otherwise disposed transverse to or at anangle relative to the first face 121. In some embodiments, the first topflange 122 may be omitted. Further, in some embodiments, the first topflange 122 may comprise an opening or relief cut to provide passage orclearance for the second actuator plunger 152 a.

The first jaw 120 may comprise a plurality of teeth 124 protruding awayfrom the first face 121. The plurality of teeth 124 may be configured topenetrate the lumber object 50 when the EOAT 100 is disposed in thegripping configuration so as to inhibit sliding of the lumber object 50along the first face 121. The plurality of teeth 124 may be disposed inone or more rows (e.g., vertical rows), which may be positioned alongopposite width edges of the first face 121. The plurality of teeth 124may include teeth of different heights. As illustrated, the plurality ofteeth 124 may comprise a subset of taller teeth 124 a and a subset ofthe shorter teeth 124 b. In the illustrated embodiment, each tallertooth 124 a may be flanked by a shorter tooth 124 b on each side. One ormore of the plurality of teeth 124 may comprise an elongate top edgeconfigured to substantially align with fibers of the lumber object 50.

FIG. 7A illustrates the EOAT 100 gripping the lumber object 50. Thefirst face 121 (see FIG. 6 ) of the first jaw 120 is disposed adjacentthe first side 51 of the lumber object 50 and the second face 221 (seeFIG. 6 ) of the second jaw 220 is disposed adjacent the second side 52.The third side 53 of the lumber object 50 is adjacent the first topflange 122 and a second top flange 222.

FIG. 7B is illustrates details of the first jaw 120 in relation to alumber object 50 when the EOAT 100 is in the gripping configuration. Insome instances, it may be advantageous to grip the lumber object 50 suchthat the teeth 124 penetrate the lumber object 50 while maintaining aclearance 166 between the first face 121 and the lumber object 50.Gripping the lumber object 50 in such a way may secure the lumber object50 between the first jaw 120 and the second jaw 220 without crushing(e.g., damaging) the lumber object 50 between the first face 121 and thesecond face 221. In some instances, the clearance 166 may be zero suchthat the first face 121 is in contact with and/or applies a force to thelumber object 50 without crushing the lumber object 50.

FIGS. 8A and 8B illustrate the EOAT 100 releasing the lumber object 50onto a horizontal surface 60. In some instances, the EOAT 100 may beused to place the lumber object 50 onto a horizontal surface 60. Inother instances, the EOAT 100 may be used to position the lumber object50 in relation to a tool or other structure element, for example. Insome instances, the EOAT 100 may hold the lumber object 50 while aprocess is performed on the lumber object 50 such as attachment toanother lumber object.

In FIGS. 8A and 8B, the EOAT 100 is shown releasing the lumber object 50onto the horizontal surface 60. The first jaw 120 and the second jaw 220are displaced away from the lumber object 50 such that the firstplurality of teeth 124 and the second plurality of teeth 224 areextracted from and spaced away from the first side 51 and the secondside 52, respectively of the lumber object 50. Illustrated also are thefirst lateral frame extension 112 and the second lateral frame extension212 spaced away from the first side 51 and the second side 52,respectively. Similarly, the first link extension 132 a and the secondlink extension 232 a are also spaced away from the first side 51 and thesecond side 52, respectively.

FIG. 9 illustrates the EOAT 100 engaging the lumber object 50 with thesecond actuator plunger 152 a. The lumber object 50 is released from thefirst and second jaws 120, 220. The second actuator plunger 152 aapplies a downward force on the lumber object 50 so as to force thelumber object 50 against the horizontal surface 60. In some embodiments,the second actuator plunger 152 a may initially extend and contact thethird side 53 of the lumber object 50 when the first and second jaws120, 220 are in the gripping configuration, i.e., gripping the lumberobject 50. In some instances, the lumber object 50 may stick to one ofthe first jaw 120 or the second jaw 220 so that when the jaw moves fromthe gripping configuration to the open configuration, the lumber object50 is moved from its desired position on the horizontal surface 60 ortipped on to one of the first side 51 or the second side 52. By makinginitial contact of the lumber object 50 with the second actuator plunger152 a while the first and second jaws 120, 220 are in the grippingconfiguration, the lumber object 50 may be secured between the secondactuator plunger 152 a and the horizontal surface 60 as the first andsecond jaws 120, 220 are moved away from the lumber object 50.

An exemplary method of use of the EOAT 100 may comprise one or more ofthe following steps or processes. The method steps or processes may beinterchanged with one another. In other words, unless a specific orderof steps or processes is required for proper operation of theembodiment, the order and/or use of specific steps or processes may bemodified.

As described above the EOAT 100 is configured to be coupled to and usedin conjunction with a robotic arm. The robotic arm may comprise up toseven axes (or degrees of motion), meaning that the EOAT 100 may bedisplaced and/or oriented consistent with the seven axes or degrees ofmotion. As such, the robotic arm in combination with EOAT 100 maymanipulate the lumber object 50 consistent with the with axes or degreesof motion. Furthermore, the EOAT 100 may be operably coupled to one ormore energy sources to facilitate operation of the first and secondactuators 151, 152, such as hydraulic, pneumatic, or electrical energysources.

The EOAT 100 may be configured to be coupled to a second EOAT 100. Inother words, the EOAT 100 may comprise holes, alignment pins, threadedfasteners, or other features or components to facilitate the attachmentof a pair of EOATs 100 together in a stacked arrangement.

FIG. 10 is a perspective view of an EOAT assembly 300 comprising twoEOATs 100 coupled together. The EOATs 100 may be arranged and/or alignedso that a single lumber object 50 may be gripped with both EOATs 100.The EOATs 100 may be spaced apart so as to grip the lumber object 50along an extended gripping length of the lumber object 50. In aninstance where a lumber object 50 is gripped by a single EOAT 100, thegripping length is defined by a width of the first and second jaws 120,220. In an instance where a lumber object 50 is gripped by an EOATassembly 300, the gripping length is extended by at least the width ofthe second set of first and second jaws 120, 220. More specifically, thelumber object 50 may be gripped by a first EOAT 100 at a first locationalong the length 56 and by a second EOAT 100 at a second location alongthe length 56, where the second location is spaced away from the firstlocation. By extending the gripping length, the lumber object 50 may bemore securely handled, especially in the instance where an elongatelumber object 50 is gripped toward one end of the lumber object 50.Extending the gripping length may also inhibit or prevent damage of thelumber object 50 by preventing rotational sliding of the lumber object50 relative to the first and second jaws 120, 220.

The EOAT assembly 300 may comprise a distal extension 302 extendingdistally away from the EOATs 100. In some embodiments, the distalextension 302 may be coupled to a separation plate 301 disposed betweenthe EOATs 100. The distal extension 302 may function as a positioningfinger. In other words, in some instances, a robotic arm (not shown) maymove or otherwise manipulate an object such as the lumber object 50 bycontacting the object with the distal extension 302.

FIG. 11 is front detail view of a portion of the EOAT assembly 300. Alsoshown are end views of a first lumber object 50 a, a second lumberobject 50 b, and a third lumber object 50 c. In some instances, the EOATassembly 300 may be used to place a lumber object at a defined locationrelative to other objects, such as other lumber objects. In oneinstance, the EOAT assembly 300 may be used to place the second lumberobject 50 b adjacent the first lumber object 50 a. In another instance,the EOAT assembly 300 may be used to place the second lumber object 50 bspaced a specific separation distance 59 away from the third lumberobject 50 c. In some instances, the predetermined separation distance 59may facilitate a defined assembly process for the second lumber object50 b and the third lumber object 50 c. The distal extension 302 mayinclude a width 303. The width 303 may be defined so that when thedistal extension 302 is disposed between the second lumber object 50 band the third lumber object 50 c, the second lumber object 50 b isspaced away from the third lumber object 50 c by the predeterminedseparation distance 59.

In the foregoing description of embodiments, various features aresometimes grouped together in a single embodiment, figure, ordescription thereof for the purpose of streamlining the disclosure. Thismethod of disclosure, however, is not to be interpreted as reflecting anintention that any claim require more features than those expresslyrecited in that claim. Rather, as the following claims reflect,inventive aspects lie in a combination of fewer than all features of anysingle foregoing disclosed embodiment. Thus, the claims following thisDetailed Description are hereby expressly incorporated into thisDetailed Description, with each claim standing on its own as a separateembodiment. This disclosure includes all permutations of the independentclaims with their dependent claims.

Recitation in the claims of the term “first” with respect to a featureor element does not necessarily imply the existence of a second oradditional such feature or element. It will be apparent to those havingreasonable skill in the art that changes may be made to the details ofthe above-described embodiments without departing from the underlyingprinciples of the invention. Embodiments of the invention in which anexclusive property or privilege is claimed are defined as follows.

1-20. (canceled)
 21. An end-of-arm tool for a robotic arm, the end-of-arm tool comprising: a frame to be coupled to the robotic arm; a first jaw coupled to the frame at a first distal end of the frame, the first jaw comprising: a first face; a first top flange extending away from the first face by a first length, the first length based on a width dimension of a lumber object to be gripped by the end-of-arm tool; and a first plurality of teeth extending away from the first face, the first plurality of teeth comprising teeth of varying heights; a second jaw coupled to the frame at a second distal end of the frame, wherein the first jaw is configured to be positioned towards the second jaw to define a gripping configuration of the end-of-arm tool, and wherein the first jaw is configured to be positioned away from the second jaw to define an open configuration of the end-of-arm tool; and a first actuator operably coupled to the first jaw and the second jaw to position the first jaw and the second jaw in the gripping configuration and the open configuration.
 22. The end-of-arm tool of claim 21, wherein the first length is half or less than half of the width dimension of the limber object.
 23. The end-of-arm tool of claim 21, wherein the first length is greater than the width dimension of the lumber object.
 24. The end-of-arm tool of claim 21, wherein the first plurality of teeth comprises a first subset of taller teeth and a second subset of shorter teeth.
 25. The end-of-arm tool of claim 24, wherein each taller tooth of the first subset of taller teeth is flanked on each side by a shorter tooth of the second subset of shorter teeth.
 26. The end-of-arm tool of claim 21, wherein the second jaw further comprises: a second face; a second top flange extending away from the second face by a second length, the second length based on the width dimension of the lumber object to be gripped by the end-of-arm tool; and a second plurality of teeth extending away from the second face, the second plurality of teeth comprising teeth of varying heights.
 27. The end-of-arm tool of claim 26, wherein a separation distance between the first face and the second face is greater than or equal to the width dimension of the lumber object when the end-of-arm tool is disposed in the gripping configuration.
 28. The end-of-arm tool of claim 21, further comprising: a lever link connected to the frame; a first transfer link connected to the lever link and a jaw link connecting the first jaw to the frame; and a second transfer link connected to the lever link and the first actuator, wherein actuation of the first actuator is configured to cause rotation of the lever link via the second transfer link; and wherein rotation of the lever link is configured to cause rotation of the jaw link via the first transfer link.
 29. The end-of-arm tool of claim 21, wherein the first jaw is connected to the frame via a first jaw link and a second jaw link, and wherein the second jaw is connected to the frame via a third jaw link and a fourth jaw link.
 30. The end-of-arm tool of claim 21, further comprising a second actuator, wherein the first actuator and the second actuator are positioned along a longitudinal axis, and wherein the second actuator comprises a plunger configured to extend between the first jaw and the second jaw to contact the lumber object.
 31. An end-of-arm tool for a robotic arm, the end-of-arm tool comprising: a frame to be coupled to the robotic arm; a first jaw coupled to the frame at a first distal end of the frame, the first jaw comprising: a first face; and a first plurality of teeth extending away from the first face, the first plurality of teeth comprising teeth of varying heights; a second jaw coupled to the frame at a second distal end of the frame, the second jaw comprising: a second face; and a second plurality of teeth extending away from the second face, the second plurality of teeth comprising teeth of varying heights, wherein the second face is parallel to the first face, wherein the first jaw is configured to be positioned towards the second jaw to define a gripping configuration of the end-of-arm tool, and wherein the first jaw is configured to be positioned away from the second jaw to define an open configuration of the end-of-arm tool; and a first actuator operably coupled to the first jaw and the second jaw to position the first jaw and the second jaw in the gripping configuration and the open configuration.
 32. The end-of-arm tool of claim 31, wherein each of the first plurality of teeth and the second plurality of teeth comprises a first subset of taller teeth and a second subset of shorter teeth.
 33. The end-of-arm tool of claim 32, wherein each taller tooth of the first subset of taller teeth is flanked on each side by a shorter tooth of the second subset of shorter teeth.
 34. The end-of-arm tool of claim 31, wherein a separation distance between the first face and the second face is greater than or equal to a width dimension of a lumber object when the end-of-arm tool is disposed in the gripping configuration.
 35. The end-of-arm tool of claim 31, further comprising a second actuator, wherein the first actuator and the second actuator are positioned along a longitudinal axis, and wherein the second actuator comprises a plunger configured to extend between the first jaw and the second jaw to contact the lumber object.
 36. The end-of-arm tool of claim 31, wherein the first jaw comprises a first top flange extending away from the first face by a first length and the second jaw comprises a second top flange extending away from the second face by a second length.
 37. The end-of-arm tool of claim 31, wherein the first face comprises a first opening and the second face comprises a second opening, the first opening and the second opening configured to receive a frame extension portion of the frame.
 38. A method of handling a lumber object, comprising: providing an end-of-arm tool coupled to a robotic arm, the end-of-arm tool comprising: opposing jaws operably coupled to a first actuator, wherein actuating the first actuator disposes the opposing jaws in one of a gripping configuration and an open configuration; positioning, using the robotic arm, the end-of-arm tool in relation to a lumber object such that the opposing jaws are disposed on opposite sides of the lumber object; disposing the end-of-arm tool in the gripping configuration so as to grip the lumber object; moving the lumber object from a first location to a second location; disposing the end-of-arm tool in the open configuration so as to release the lumber object; displacing the lumber object relative to the opposing jaws; and repositioning, using the robotic arm, the end-of-arm tool away from the lumber object.
 39. The method of claim 38, wherein gripping the lumber object comprises penetrating a surface of the lumber object with a plurality of teeth disposed on the opposing jaws in the gripping configuration.
 40. The method of claim 39, wherein releasing the lumber object comprises separating the plurality of teeth from the surface of the lumber object in the open configuration. 